Method for processing a measured-value signal determined in an analog manner, a resolver system for implementing the method and a method for determining an output current of a converter

ABSTRACT

In method for processing a measured-value signal determined in an analog manner and a resolver system for implementing the method, the measured-value signal being supplied to a delta-sigma modulator, which makes a bit stream, particularly a one-bit data stream, available on the output side, in particular, whose moving average corresponds to the measured-value signal, the bit stream being supplied to a first digital filter, which converts the bit stream into a stream of digital intermediate words, that is a multibit data stream, the first digital filter having three serially arranged differentiators, the bit stream being clocked at a clock frequency f S , that is, at a clock-pulse period T S =1/f S , and therefore the stream of digital intermediate words being clocked, and thus updated, at a clock-pulse frequency f D , that is, at a clock-pulse period T D =1/f D , the output signal of the first digital filter being supplied to a second digital filter, the second digital filter having as its output data-word stream the difference between a first and a second result data-word stream, the first and second result data-word stream being determined around a first and second time interval from the intermediate data-word stream, the first and second time interval being situated at a distance in time T 1 , the first result data-word stream being determined as a time-discrete second derivation with time scale TD and the second result data-word stream being determined as a time-discrete second derivation with time scale TD.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 15/144,601, which is a continuation U.S. patent applicationSer. No. 13/392,422, which is the national stage of PCT/EP2010/004926,each of which is expressly incorporated herein in its entirety byreference thereto.

FIELD OF THE INVENTION

The present invention relates to a method for processing ameasured-value signal determined in an analog manner, a resolver systemfor implementing the method and a method for determining an outputcurrent of a converter.

BACKGROUND INFORMATION

DE 10 2005 005 024 describes a method, in which the analog carriervoltage signal values generated by a resolver used as anangular-position sensor, the curve of which is essentially sinusoidaland the amplitude of which corresponds to the sine value or the cosinevalue of the angular value to be detected, are converted into a digitaldata stream. A delta-sigma modulator is used for this analog-digitalconversion, which has a Sinc³ filter connected in outgoing circuit,which acts as a low-pass filter. For the three accumulators, acting inan integrating fashion, of FIG. 5 of that document are operated at afaster clock-pulse frequency F_(S) than the three differentiatorsoperated at the slower clock-pulse frequency F_(D). At the filter, amulti-bit data stream exits on the output side, which, according to FIG.2 in the above document, is supplied to a decimating filter OSR2, whichessentially corresponds to a summation, that is, an averaging. At itsoutput, the measured value is thus provided in digital form.

A synchronization of the multi-bit data stream to other signal curves ispossible only with difficulty or not at all. The measuring duration orthe beginning and end of the measuring interval is settable only at along time duration T_(D), since the signal at the output of the thirdintegrator is subsampled at f_(D). From this point on, all signals inthe signal chain are thus only available at the rough time quantizationT_(D). The determination of the beginning and end or of the measuringduration, over which decimation filter OSR2 measures, may thereforeoccur only in integral multiples of T_(D). In industrial applications,however, it is frequently necessary to synchronize secondary controlloops to primary control loops. These different control loops may alsobe implemented in a spatially separated fashion, the time referencingthen being transmitted via a field bus system. The task is then tosynchronize the secondary control loop to a clock pulse specified fromoutside. For this purpose, the period duration of the sampling intervalof the secondary control loops is normally modified slightly in order toachieve this synchronization. In order to be able to perform thissynchronization at a high quality, it is necessary to be able to modifythe period duration of the secondary control loop in increments that areas small as possible. A rough time quantization of the smallest possibleperiod duration modification thus limits the achievable quality of thesynchronization control. Since within a control loop the measured-valuedetection is also operated in a synchronized fashion, a roughquantization of the measuring times or the measuring duration likewiseresults in a limitation in the synchronization control.

SUMMARY

Example embodiments of the present invention provide a measuring method,in which the beginning and end of the measuring interval or of themeasuring duration may be defined at a high time resolution. In themethod described herein, this time quantization is T_(S), which in DE 102005 005 024 is T_(D). In order to achieve a sufficient filter effect ofthe low-pass filter, however, T_(D) must be selected to be substantiallygreater than T_(S), which results in the mentioned limitations in thedescribed related art.

EP 0 320 517 describes a digital decimation filter, in which a finaldifferentiator k has delay elements that delay by the period duration ofthe output data clock pulse, that is, decimation clock pulse dt. Thusonly integral multiples of the decimation clock pulse dt areimplementable as a delay. To be sure, the last of the integrators inFIG. 1 of EP 0 320 517, according to claim 1 thereof, is equipped with areset device, which thus acts like a differentiator (EP 0 320 517, claim1, line 56).

Example embodiments of the present invention provide for analog-digitalconversion in a measured value detection further. Thus, it is possibleto determine the beginning and the end of the measuring interval at ahigh resolution in time.

Among features of example embodiments of the present invention in themethod are that it is provided for processing a measured-value signaldetermined in an analog manner,

the measured-value signal being supplied to a delta-sigma modulator,which provides a bit stream, in particular a one-bit data stream, on theoutput side,

the bit stream being supplied to a first digital filter, which convertsthe bit stream into a stream of digital intermediate words, that is, amulti-bit data stream,

the first digital filter having a number n of serially arrangedaccumulators, in particular integrators, n being a whole number andequal to or greater than 1 or 2,

the bit stream being clocked at a clock-pulse frequency fS, that is, ata clock-pulse period TS=1/FS, and thus the stream of digitalintermediate words being clocked and thus updated at a clock-pulsefrequency fS, that is, the clock-pulse period TS=1/fS,

the output signal of the first digital filter being supplied to a seconddigital filter,

the second digital filter having as its output data-word stream thedifference between a first and a second result data-word stream,

the first and second result data-word stream being determined over afirst and second time interval from the intermediate data-word stream,the first and second time interval being situated at a distance in timeT1,

the first result data-word stream being determined from the intermediatedata-word stream as a time-discrete differential of the (n−1)th order attime scale TD, and

the second result data-word stream being determined from theintermediate data word stream as a time-discrete differential of the(n−1)th order at time scale TD,

distance in time T1 being greater than time scale T_(D), in particularT1 being an integral multiple of clock-pulse period T_(S).

Signal clock-pulse T_(U) at the output of the second digital filter maybe selected differently depending on the exemplary application andexemplary embodiment of the method. For example, T1, T_(D) or even T_(S)or any other integral multiple of T_(S) may be utilized as signalclock-pulse T_(U). It is advantageous in this regard that T_(U) may beselected as a multiple of TS and hence may be set at a high resolutionin time.

For example, the method may be used to detect the output current “i” ofa converter that is operated in a pulse-width modulated manner. For thispurpose, the measuring duration T1 should extend over a half PWM periodduration for example. Consequently, T1 may be set very precisely at thehigh time resolution of T_(S) in accordance with the desired measuringduration. Furthermore, a measurement should occur in each PWM period,and thus T_(U) is defined independently of T1 in accordance with PWMperiod duration T_(PWM). This may likewise occur at the high timeresolution of T_(S). Even if e.g. T_(PWM) is not an integral multiple ofT_(S), the time deviation from it when defining T_(U) remains very lowwhen using the method according to the present invention.

The advantage in this context is that an improved analog-to-digitalconversion is practicable, in which a digital filter is now usable that,on one hand, has a low-pass function, and on the other hand, makes thedata stream available in such a way that the digital information withregard to the signal-voltage value at the input of the delta-sigmamodulator is available with very high accuracy. It is especiallyadvantageous that the series arrangement of accumulators is not followedby any differentiators with subsequent averaging, but rather that only afew intermediate data words are linked, in each case at a suitabledistance in time, with the aid of simple operations such as subtractionand addition or multiplication by the factor 2, or the like. Thus, ahighly precise analog-to-digital conversion is feasible with littleeffort. In addition, even in the case of a realization in hardware, achange of distances in time T_(D) is practicable without special effort.

Another advantage is that no reset devices have to be used in the caseof the accumulators, and therefore unadulterated results are attainable.

Among features in the case of the method are that it is provided toprocess a measured-value signal determined in an analog manner,

the measured-value signal being supplied to a delta-sigma modulator,which makes a bit stream, particularly a one-bit data stream, availableon the output side,

in particular, whose average value or a moving average corresponds tothe measured-value signal,

the bit stream being supplied to a first digital filter that convertsthe bit stream into a stream of digital intermediate words, that is, amulti-bit data stream,

the first digital filter having a number n of serially arrangedaccumulators, in particular integrators, n being a whole number andequal to or greater than 1 or 2,

the bit stream being clocked at a clock-pulse frequency f_(S), that is,at a clock-pulse period T_(S)=1/f_(S), and therefore the stream ofdigital intermediate words being clocked, and thus updated, atclock-pulse frequency f_(S), that is, clock-pulse period T_(S)=1/f_(S),

the output signal of the first digital filter being supplied to a seconddigital filter,

the second digital filter having as its output data-word stream thedifference between a first and a second result data-word stream,

the first and second result data-word streams being determined from theintermediate data-word stream over a first and second time interval, thefirst and second time intervals being situated at a distance in time T1,

the first result data-word stream being determined from the double ofthe intermediate data word belonging to the first instant, theintermediate data word located at the distance in time T_(D) prior tothe first instant and the intermediate data word located at the distancein time T_(D) after the first instant being subtracted,the second result data-word stream being determined from the double ofthe intermediate data word belonging to the second instant, theintermediate data word located at the distance in time T_(D) prior tothe second instant and the intermediate data word located at thedistance in time T_(D) after the second instant being subtracted.

The advantage here is that three accumulators with downstream seconddifferential are already sufficient to achieve a high-quality digitalsignal.

Example embodiments of the present invention provide the furtheradvantage that the calculation steps for determining the outputdata-word stream of the second digital filter, that is, the formation ofthe difference between a first and a second result data-word stream, areexecutable in overlapping fashion. Thus, the data rate on the outputside may be further increased by parallel calculations overlapping intime, that is, by forming such differences.

In example embodiments, T1 is greater than or equal to the double ofT_(D). This offers the advantage that a low-pass filtering isattainable.

In example embodiments, clock-pulse period duration T_(D) is an integralmultiple of T_(S). The advantage in this case is that a realization inhardware is easily practicable.

In example embodiments, the first digital filter is made up of threeintegrators or accumulators disposed directly one after the other. Theadvantage here is that a simple digital low-pass filtering is able to beproduced.

In example embodiments, the moving average of the bit stream correspondsto the measured-value signal. Thus, the measured value is able to berepresented with high accuracy if a large time interval is taken as abasis for the moving average.

In example embodiments, the clock-pulse signal used in the delta-sigmamodulator is applied to the clock-pulse input of the first digitalfilter. This offers the advantage that a simple implementation isfeasible.

In example embodiments, the carrier signal generator produces apulse-width-modulated signal, which is supplied to the rotor coil andrepresents essentially a sine signal. This has the advantage that theangular position of the rotor coil is detectable.

Among features in the resolver system are that the resolver system isprovided for detecting the angular position of a rotor in relation to astator,

the rotor bearing a rotor coil and the stator having two stator coilsthat are mutually shifted in the circumferential direction by 90°,

the rotor coil having a carrier signal produced by a carrier-signalgenerator applied to it,

each signal occurring at the respective stator coil being supplied as arespective measured-value signal to a respective processing channel,within which an aforementioned method is implemented.

It is advantageous in this regard that the angular position of the rotorin relation to the stator may be provided in digital form at a highaccuracy and a fast clock-pulse rate, in particular for a controlelectronics or as a safety-related state variable.

Among features with respect to the method for determining an outputcurrent of a converter are that the measuring signals, detected by asensor and corresponding to the output current, are supplied to arespective processing channel, within which a method described above iscarried out. Advantageously, improved current sensing is thuspracticable in the case of converters, as well.

Example embodiments of the present invention are explained in greaterdetail below with reference to the appended Figures.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a portion of a filter according to an example embodiment ofthe present invention, downstream of a delta-sigma modulator, for onerespective processing channel.

FIG. 2 shows an example embodiment, in which the method is used todetect an output current of a converter, which is operated in apulse-width modulated manner.

FIG. 3 shows an example embodiment of a method for processing ameasured-value signal detected by a sensor and determined in an analogmanner.

DETAILED DESCRIPTION

For this purpose, the analog-digital conversion according to exampleembodiments of the present invention is described for a resolverevaluation corresponding to 10 2005 005 024 B4. However, it is alsoapplicable analogously to other measured-value detections.

As in FIG. 1 of DE 10 2005 005 024, stator coils mutually shifted in thecircumferential direction by 90° are situated for detecting the angularposition of the rotor shaft in relation to a stator. The rotor coil hasa carrier signal applied to it that runs preferably in a sinusoidalmanner and has a period duration T_(C).

A sine signal is thus induced on the first stator coil and a cosinesignal is induced on the second stator coil, which are supplied to arespective processing channel.

Each processing channel comprises a delta-sigma modulator having anoutput that supplies a bit stream, that is, a one-bit data stream.

This one-bit data stream has the information about the measured value ofthe supplied signal as time average.

FIG. 1 shows a portion of a filter according to an example embodiment ofthe present invention, downstream of the delta-sigma modulator, for onerespective processing channel.

As in the case of DE 10 2005 005 024, three integrators, which may alsobe called accumulators or integrating elements and are not shown in FIG.1, and which are also included by the filter and are operated at aclock-pulse frequency f_(S), that is, clock-pulse period T_(S)=1/f_(S),are disposed serially one after the other, so that an intermediatedata-word stream is output at this serial configuration. In contrast toDE 10 2005 005 024, in which the intermediate data-word stream issupplied to the three following, again serially disposeddifferentiators, which, however, are operated at the much slowerclock-pulse frequency f_(D), that is, clock-pulse period T_(D)=1/f_(D),a special data-processing method is carried out in example embodimentsof the present invention.

This special data processing is illustrated in FIG. 1.

For this purpose, it is important that the intermediate data-word streambe updated in the clock pulse of clock-pulse period T_(S), that is, inthe sampling clock pulse of the delta-sigma modulator.

From this intermediate data stream, a 2nd time-discrete differential,that is, a time-discrete differential of the second order, is determinedby adding a first intermediate data word at a first instant to anintermediate data word at a distance 2×T_(D) away in time, and from thesum thus formed, subtracting the double value of the intermediate dataword lying centrally in time between these two intermediate data words.Thus, a first result value is formed.

In order to form a second result value, the same operation is performedat a time interval lying at the distance in time T₁ from the firstintermediate data word indicated. Thus, an intermediate data word atthat place has again added to it an intermediate data word at a distance2×T_(D) away in time, and from the sum thus formed, the double value ofthe intermediate data word lying centrally between these twointermediate data words is subtracted, the centrally lying intermediatedata word having the distance in time T₁ to the centrally lyingintermediate data word utilized for calculating the first result value.Thus, a second result value is formed.

Difference D between the two result values is made available on theoutput side and represents the filtered measured value in digital form,a high accuracy being achievable in the process.

In contrast to DE 10 2005 005 024, neither any differentiators nor anoutput-side decimation filter OSR2 are necessary, since according toexample embodiments of the present invention, the result on the outputside is determined directly by the difference between the first andsecond result.

A special advantage of example embodiments of the present invention isalso that T1 is an arbitrary integral multiple of T_(S), no furtherspecification having to be made. Naturally, in this context, T1 isadvantageously greater than the double of T_(D), that is, T1>T_(D).Since, for example, 1/T_(S) amounts to several MHz, thus, for instance,more than 10 MHz, T1 is alterable in fine steps.

Consequently—in particular in operation—T1 is alterable at a high timeresolution, and synchronizations to different clocked signal streams aretherefore practicable without special effort. If, for example, themeasured value of the signals of a resolver processed according toexample embodiments of the present invention is supplied to controlelectronics of a converter, it is therefore possible in easy manner tocarry out a synchronization to a clock pulse predefined by a field busconnected to the converter. To that end, only the value of T1 must thusbe changed, which is practicable with the high time resolution of T_(S).

In further exemplary embodiments of the present invention, instead ofthe second time-discrete differential, a first, third or higherdifferential, that is, a time-discrete differential of the first, thirdor higher order is used, if the number of integrators, that is,accumulators, is changed correspondingly. Thus, if n integrators areprovided, in order to form the first and second result value, in eachcase an n-tuple of intermediate data words f_(k) set apart from oneanother at regular intervals at distance in time T_(D) is used, where kruns from 0 to n−1. In this context, the differential is formed byforming the sum of(−1)^(k)(_(k) ^(n−1))f _(k),k running from 0 to n−1.

FIG. 2 shows, by way of example, an example embodiment, in which themethod is used to detect the output current “i” of a converter, which isoperated in a pulse-width modulated manner. For this purpose, themeasuring duration T1 should extend over half a PWM period duration forexample. Consequently, T1 may be set very precisely at the high timeresolution of T_(S) in accordance with the desired measuring duration.

In FIG. 2, the instants that are used for determining the differentialsof the second order are in each case represented by a set of three smallbars. Each set of three has a time length of 2×T_(D). However, sinceT_(D) is very much greater than T_(S), a representation of distance intime T_(S) is no longer possible in FIG. 2.

In addition, one measurement is to be performed in each PWM period.Consequently, T_(U) is specified according to PWM period durationT_(PWM), independently of T1. This may likewise occur at the high timeresolution of T_(S). Even if e.g. T_(PWM) is not an integral multiple ofT_(S), the time deviation from it when defining T_(U) remains very lowwhen using the method described herein.

As illustrated, for example, in FIG. 3, according to an exampleembodiment of the present invention, a method (100) for processing ameasured-value signal detected by a sensor and determined in an analogmanner, includes: supplying the measured-value signal to a delta-sigmamodulator (Si); outputting a bit stream by the delta-sigma modulator(S2); supplying the bit stream to a first digital filter (S3);converting the bit stream, by the first digital filter, into anintermediate data-word stream of digital intermediate words, the bitstream being clocked and the stream of digital intermediate words beingclocked and updated at a clock-pulse frequency corresponding to asampling clock pulse of the delta-sigma modulator (S4); supplying anoutput signal of the first digital filter to a second digital filter(S5); and outputting a digital filtered measured value by the secondfilter as a difference between (a) a first sum of a value of theintermediate data word at a first point in time, plus a value of theintermediate data word at a second point in time, less double a value ofthe intermediate word at a third point in time centrally between thefirst point in time and the second point in time and (b) a second sum ofa value of the intermediate data word at a fourth point in time, plus avalue of the intermediate data word at a fifth point in time, lessdouble a value of the intermediate word at a sixth point in timecentrally between the third point in time and the fourth point in time(S6).

LIST OF REFERENCE NUMERALS

-   T_(S)=1/f_(S) clock-pulse period-   T_(D)=1/f_(D) clock-pulse period-   T1 Distance in time

What is claimed is:
 1. A method for processing a measured-value signaldetected by a sensor and determined in an analog manner, comprising:supplying the measured-value signal to a delta-sigma modulator;outputting a bit stream by the delta-sigma modulator; supplying the bitstream to a first digital filter; converting the bit stream, by thefirst digital filter, into an intermediate data-word stream of digitalintermediate words, the bit stream being clocked and the stream ofdigital intermediate words being clocked and updated at a clock-pulsefrequency corresponding to a sampling clock pulse of the delta-sigmamodulator; supplying an output signal of the first digital filter to asecond digital filter; and outputting a digital filtered measured valueby the second filter as a difference between (a) a first sum of a valueof the intermediate data word at a first point in time, plus a value ofthe intermediate data word at a second point in time, less double avalue of the intermediate word at a third point in time centrallybetween the first point in time and the second point in time and (b) asecond sum of a value of the intermediate data word at a fourth point intime, plus a value of the intermediate data word at a fifth point intime, less double a value of the intermediate word at a sixth point intime centrally between the third point in time and the fourth point intime.
 2. The method according to claim 1, wherein a time differencebetween the first point in time and the second point in time is equal toa time difference between the fourth point in time and the fifth pointin time.
 3. The method according to claim 1, wherein a time differencebetween the third point in time and the sixth point in time is greaterthan twice the time difference between the first point in time and thesecond point in time.
 4. The method according to claim 1, wherein a timedifference between the third point in time and the sixth point in timeis greater than twice the time difference between the fourth point intime and the fifth point in time.
 5. The method according to claim 2,wherein a time difference between the third point in time and the sixthpoint in time is greater than twice the time difference between thefirst point in time and the second point in time and the time differencebetween the fourth point in time and the fifth point in time.
 6. Themethod according to claim 1, wherein a time difference between the thirdpoint in time and the sixth point in time is a multiple of a clock pulseperiod of the sampling clock pulse of the delta-sigma modulator.
 7. Themethod according to claim 1, wherein the bit stream includes a one-bitdata stream.
 8. The method according to claim 1, wherein the stream ofintermediate words includes a multi-bit data stream.
 9. The methodaccording to claim 1, wherein the measured-value signal represent anangular position of a rotor in relation to a stator.
 10. The methodaccording to claim 1, wherein the measured-value signal is output by aresolver system adapted to detect an angular position of a rotorrelative to a stator, the measured value representing the angularposition.
 11. The method according to claim 1, wherein the first digitalfilter includes three integrators or accumulators arranged directly oneafter another.
 12. The method according to claim 1, wherein themeasured-value signal represents a moving average.
 13. The methodaccording to claim 1, wherein the first digital filter includes aplurality of serially arranged accumulators or integrators.
 14. Aresolver system adapted to detect an angular position of a rotor inrelation to a stator, the rotor bearing a rotor coil and the statorhaving two stator coils that are mutually shifter in a circumferentialdirection by 90°, the rotor coil having a carrier signal produced by acarrier signal generator applied to it, wherein each signal occurring ata respective stator coil is supplied as a respective measured-valuesignal to a respective processing channel, the resolver system adaptedto perform the method recited in claim 1.